Articles | Volume 14, issue 2
Research article
21 Nov 2023
Research article |  | 21 Nov 2023

Assistance control strategy for upper-limb rehabilitation robot based on motion trend

Haojun Zhang, Tao Song, and Leigang Zhang

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Cited articles

Asl, H. J., Yamashita, M., Narikiyo, T., and Kawanishi, M.: Field-Based Assist-as-Needed Control Schemes for Rehabilitation Robots, IEEE-ASME T. Mech., 25, 2100–2111,, 2020. 
Babaiasl, M., Mahdioun, S. H., Jaryani, P., and Yazdani, M.: A review of technological and clinical aspects of robot-aided rehabilitation of upper-extremity after stroke, Disability and rehabilitation: Assistive Technology, 11, 263–280,, 2016. 
Battiston, B., Titolo, P., Ciclamini, D., and Panero, B.: Peripheral Nerve Defects Overviews of Practice in Europe, Hand Clin., 33, 545–550,, 2017. 
Cao, R., Cheng, L., Yang, C. G., and Dong, Z.: Iterative assist-as-needed control with interaction factor for rehabilitation robots, Science China Technological Sciences, 64, 836–846,, 2021. 
Chang, W. H. and Kim, Y.-H.: Robot-assisted Therapy in Stroke Rehabilitation, J. Stroke, 15, 174–181,, 2013. 
Short summary
To enable the control system to provide minimal assistance and apply different rehabilitation stages according to the subject's performance, this paper proposes a motion-trend-based assistance control strategy. The preliminary experimental results demonstrate that the proposed control strategy works well to quickly adjust the assistance to the subject's motor performance and quickly reduce the assistance when the subject tends to actively participate in the exercise.